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2019 IEEE 15th International Conference on Control and Automation (ICCA)最新文献

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Adaptive Vision-Based Control for Robotic Tiling with Uncalibrated Cameras and Limited FOV 基于自适应视觉的机器人无标定相机和有限视场控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899696
Xiang Li, Changheng Sun, Wanli Cheng, Xin Jiang, Yunhui Liu
{"title":"Adaptive Vision-Based Control for Robotic Tiling with Uncalibrated Cameras and Limited FOV","authors":"Xiang Li, Changheng Sun, Wanli Cheng, Xin Jiang, Yunhui Liu","doi":"10.1109/ICCA.2019.8899696","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899696","url":null,"abstract":"The traditional manual tiling is labor-intensive and now limited by the shortage of skilled labors and the increasing manpower cost. While a few automatic machines have been developed to alleviate the problems, the autonomous capability of existing systems is relatively low, in the sense that humans usually involve to calibrate the spatial relationship between the robot and the target tile, specify the desired position of each tile, or deal with unforeseen changes (e.g., falling of tile, temporary loss of features). This paper proposes a new adaptive vision-based control scheme for robotic tiling, which enables the robot to automatically pick or re-pick the tile then place it to the desired position in the presence of uncalibrated cameras and limited field of view (FOV). The proposed controller improves the autonomous capability of tiling robots in twofold. First, the unknown spatial relationship due to uncalibrated cameras is estimated online, such that the manual calibration is not required. Second, the temporary loss of features due to the limited FOV is addressed with the Cartesian-space regional feedback, such that the manual assistance is also eliminated. The stability of the closed-loop system is rigorously proved with Lyapunov methods, and experimental results are presented to illustrate the performance of the proposed control scheme.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128167187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Adaptive learning: robust stabilization of two-player games with unmodeled dynamics 自适应学习:具有未建模动力学的二人博弈的鲁棒稳定化
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899740
Jinna Li, Z. Ding, Jiangtao Cao, Ping Li
{"title":"Adaptive learning: robust stabilization of two-player games with unmodeled dynamics","authors":"Jinna Li, Z. Ding, Jiangtao Cao, Ping Li","doi":"10.1109/ICCA.2019.8899740","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899740","url":null,"abstract":"Consider the inherent existence of unmodeled dynamics when identifying system models, it is worth investigating control to guarantee the robust stability of the systems. This paper focuses on robust control for two-player time-invariant difference game with uncertain unmodeled dynamics by using adaptive learning way. To this end, the optimization control problem for two-player linear difference games with bounded unmodeled dynamics is formulated first. Then, dynamic programming combined with game theory and adaptive critic learning are employed for the purpose of finding the stabilizing control polices, such that an adaptive learning method is developed for stabilizing the closed-loop two-player dynamics with unmodeled dynamics. The robust stabilization of the uncertain two-player game systems is rigorously proved. Simulations are given to show the effectiveness of the proposed method.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133212421","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Parametrized Hyperplane Arrangements for Control Design with Collision Avoidance Constraints 避碰约束下控制设计的参数化超平面布置
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899977
Daniel-Mihail Ioan, Sorin Olaru, I. Prodan, F. Stoican, S. Niculescu
{"title":"Parametrized Hyperplane Arrangements for Control Design with Collision Avoidance Constraints","authors":"Daniel-Mihail Ioan, Sorin Olaru, I. Prodan, F. Stoican, S. Niculescu","doi":"10.1109/ICCA.2019.8899977","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899977","url":null,"abstract":"This paper concerns the problem of collision avoidance in a dynamical multi-obstacle environment. The design problem is commonly stated in the literature in terms of a receding-horizon constrained optimization problem over a non-convex domain. Preliminary results based on hyper- plane arrangements lead to a mixed-integer formulation of the problem. This formalism is adequate for a static multi- obstacle environment, but may be impractical in a dynamical context. Nevertheless, this shortcoming can be alleviated by considering an additional analysis step and by an appropriate proper choice of the representation of the environment in a time-varying framework. The present paper tackles this issue by using zonotopes and discussing their parametrization in a collision avoidance type of application.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131697688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Distributed convex nonsmooth optimization for multi-agent system based on proximal operator 基于近端算子的多智能体系统分布凸非光滑优化
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899755
Qing Wang, Xianlin Zeng, Bin Xin, Jie Chen
{"title":"Distributed convex nonsmooth optimization for multi-agent system based on proximal operator","authors":"Qing Wang, Xianlin Zeng, Bin Xin, Jie Chen","doi":"10.1109/ICCA.2019.8899755","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899755","url":null,"abstract":"This paper considers a class of distributed non-differentiable convex optimization problems, in which each local cost function is composed of a twice differentiable convex function and a lower semi-continuous convex function. Motivated by the proximal operator and derivative feedback methods, continuous distributed optimization algorithms for both single-integrator and double-integrator multi-agent systems are developed to achieve distributed optimal consensus. Finally, simulation results are provided to illustrate the effectiveness of the proposed methods.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133801048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Energy Efficiency Maximization in Wireless Powered Sensor Networks 无线传感网络的能源效率最大化
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899969
Tao Liu, Xiaomei Qu, Wenrong Tan
{"title":"Energy Efficiency Maximization in Wireless Powered Sensor Networks","authors":"Tao Liu, Xiaomei Qu, Wenrong Tan","doi":"10.1109/ICCA.2019.8899969","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899969","url":null,"abstract":"To solve the low energy transfer efficiency problem in wireless powered sensor networks, we propose a novel Cosoperative Power and Information Transfer Scheme (CPITS) in this paper, which utilizes the simultaneous wireless information and power transfer technique to integrate power charging with data transfer. Then, we formulate the cooperative power and information transfer problem in CPITS as a non-convex optimization problem aiming at maximizing energy efficiency. Furthermore, we provide an iteration algorithm based on the Dinkelbach method [1] and a Distributed Optimal Policy Computation Algorithm to resolve this non-convex optimization problem. Experimental results show the superiority of CPITS.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122682271","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
PI-like Adaptive Asymptotic Control for Automatic Train Operation with Protection Constraints and Applications 带保护约束的列车自动运行的类pi自适应渐近控制及其应用
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899705
Shigen Gao, Hai-rong Dong, Yidong Li, Y. Yue
{"title":"PI-like Adaptive Asymptotic Control for Automatic Train Operation with Protection Constraints and Applications","authors":"Shigen Gao, Hai-rong Dong, Yidong Li, Y. Yue","doi":"10.1109/ICCA.2019.8899705","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899705","url":null,"abstract":"This paper addresses the PI-like adaptive asymptotic control for the automatic train operation in the presence of protection constraints. Essentially different from the existing methods, the proposed method requires no priori information of operation resistances, and no linearized approximators, such as neural networks and fuzzy systems, are utilized to deal with unknown nonlinearities online. Protection constraints from the automatic train protections (ATP) are considered in an explicit way to design control algorithm for automatic train operation (ATO), which are operated independently in practice. A PI-like adaptive asymptotic control is designed not only to proposed algorithm with low computational complexity but also to consider the sufficient utilization of ATP information into the ATO systems. Experimental and comparative results in Beijing railway Yizhuang line are presented finally to demonstrate the effectiveness and advantages of the proposed method.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128694635","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Periodic event-triggered control for switched affine systems 切换仿射系统的周期性事件触发控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899535
Zhuoyuw Li, Dan Ma, Jun Zhao
{"title":"Periodic event-triggered control for switched affine systems","authors":"Zhuoyuw Li, Dan Ma, Jun Zhao","doi":"10.1109/ICCA.2019.8899535","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899535","url":null,"abstract":"This paper deals with the periodic event-triggered control problem of switched affine systems. The event-triggered mechanism leads to the mismatch phenomenon between the active subsystem and controller, which inevitably causes the asynchronous switching. Taking the asynchronization into consideration, we co-design the event-triggered mechanism and the switching controller to ensure the system state tends to a ball containing the desired equilibrium point. The maximal asynchronous interval is guaranteed by the upper bound of the triggered holding interval. Finally, an example illustrates the effectiveness of the proposed theoretical results.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116021409","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Relationship between S-and σ-inverse for some class of nonsquare matrices – an initial study 一类非方阵- σ-逆关系的初步研究
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899957
W. Hunek, P. Majewski
{"title":"Relationship between S-and σ-inverse for some class of nonsquare matrices – an initial study","authors":"W. Hunek, P. Majewski","doi":"10.1109/ICCA.2019.8899957","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899957","url":null,"abstract":"In this paper the new results concerning the relations between nonunique right/left inverses of nonsquare polynomial matrices are presented. A particular attention is focused on the relationship between the S - and σ-inverse both having the arbitrary so-called degrees of freedom. The proposed approaches allow to obtain essential analytical formulas, which constitute the starting point for further research effort.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116404655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
The Key Location Algorithm in Passive Keyless Enter System 被动无钥匙进入系统中的密钥定位算法
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899742
Liu Yang, Huabiao Qin, Ruoqian Xu
{"title":"The Key Location Algorithm in Passive Keyless Enter System","authors":"Liu Yang, Huabiao Qin, Ruoqian Xu","doi":"10.1109/ICCA.2019.8899742","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899742","url":null,"abstract":"To solve the problem of error accumulation during the calculation and low accuracy of the position location algorithm based on the Received Signal Strength Indication (RSSI) distance measurement in Passive Keyless Enter (PKE) system. A new twice-weighted centroid segmentation algorithm is proposed in this paper. By using transmission theory, the transmission and reflection energy ratio of the radio signal to the car seat was calculated, and an attenuation model of radio signal inside the car was constructed. During the positioning calculation, the twice-weighting factors were introduced, and the position is estimated twice to make the results correct. Simulation results show that the improved algorithm has higher data utilization rate, higher positioning accuracy and smaller positioning error inside the vehicle.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114448246","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Robust Gain-scheduled H∞ Estimation of State-multiplicative Systems 状态乘型系统的鲁棒增益调度H∞估计
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899995
E. Gershon
{"title":"Robust Gain-scheduled H∞ Estimation of State-multiplicative Systems","authors":"E. Gershon","doi":"10.1109/ICCA.2019.8899995","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899995","url":null,"abstract":"The theory of robust gain scheduling estimation of polytopic-type uncertain continuous-time state-multiplicative stochastic systems is investigated. We apply a vertex-dependant approach for the solution of the $H_{infty }$ estimation of these systems which considerably reduces the overdesign associated with the classical design of the robust filter. Whereas the usual solution applies a single Lyapunov function for the whole parameter range of the uncertain system, in this study we apply the Finsler lemma one additional time. The later strategy greatly improves the performance of the robust gain scheduled filter where on-line measurement is used to improve the estimation. The advantage of the latter design is demonstrated via a numerical example that applies several design methods for the solution of the robust estimation problem.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128082081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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